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KR960017410A - Electric power steering - Google Patents

Electric power steering Download PDF

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Publication number
KR960017410A
KR960017410A KR1019950043105A KR19950043105A KR960017410A KR 960017410 A KR960017410 A KR 960017410A KR 1019950043105 A KR1019950043105 A KR 1019950043105A KR 19950043105 A KR19950043105 A KR 19950043105A KR 960017410 A KR960017410 A KR 960017410A
Authority
KR
South Korea
Prior art keywords
target value
motor current
current target
determination unit
gain
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
KR1019950043105A
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Korean (ko)
Other versions
KR0155431B1 (en
Inventor
히로후미 마쯔오카
Original Assignee
이노우에 히로시
코오요오세이코오 카부시키가이샤
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Publication of KR960017410A publication Critical patent/KR960017410A/en
Application granted granted Critical
Publication of KR0155431B1 publication Critical patent/KR0155431B1/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0493—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting processor errors, e.g. plausibility of steering direction

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

제어부를 2개로 나누고, 고속의 응답성능이 요구되는, 제1모터 전류목표값을 정하는 제1제어부는 하이드웨어 만으로 이루어지고, 페일 세이프 기능을 제2제어부에 탑제한 전동파워 스티어링 장치이다. 제2제어부는. 제2모우터 전류 목표값을 정하고, 또 제1모터 전류목표값, 제2모터 전류목표값, 구동전류 및 차량의 상태를 표시하는 신호에 의거하여, 제1모터 전류목표값을 변경하기 위한 신호를 제1제어부로 출력한다.The first control unit for dividing the control unit into two and setting the first motor current target value, which requires high-speed response performance, consists of only the hardware, and is an electric power steering device equipped with a fail-safe function on the second control unit. The second control unit. A signal for setting the second motor current target value and for changing the first motor current target value based on a signal indicating the first motor current target value, the second motor current target value, the drive current, and the state of the vehicle. Is output to the first control unit.

이와 같이 역할분담하므로서 조타에 응답성의 향상 및 제조 코스트의 삭감을 실현할 수 있다.In this way, it is possible to realize an improvement in response to steering and a reduction in manufacturing cost by sharing the role.

Description

전동파워 스티어링 장치Electric power steering

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음As this is a public information case, the full text was not included.

제1도는 본 발명의 실시예1에 관한 전동 파워 스티어링 장치의 개략 구성을 표시하는 블록도.1 is a block diagram showing a schematic configuration of an electric power steering apparatus according to Embodiment 1 of the present invention.

제2도는 제1도에 표시하는 모터 전류 목표값 결정회로, 위상보상회로 및 게인 가변 앰프를 표시하는 회로도.FIG. 2 is a circuit diagram showing a motor current target value determining circuit, a phase compensation circuit and a gain variable amplifier shown in FIG.

제3도는 제1도에 표시하는 리미터, 전류 제어회로, 3각파 발생회로 및 PWM파 발생회로를 표시하는 회로도.3 is a circuit diagram showing a limiter, a current control circuit, a triangular wave generator circuit and a PWM wave generator circuit shown in FIG.

제4도는 제1도에 표시하는 모터 구동회로를 표시하는 회로도.4 is a circuit diagram showing a motor driving circuit shown in FIG.

제5도는 제1도에 표시하는 모터 전류 검출회로를 표시하는 회로도.5 is a circuit diagram showing a motor current detection circuit shown in FIG.

제6도는 실시예1에 있어서의 동작을 표시하는 플로우차아트6 is a flowchart art showing the operation in the first embodiment.

제7도는 실시예1에 있어서의 동작을 표시하는 플로우차아트Fig. 7 is a flowchart art showing the operation in the first embodiment.

Claims (12)

조타토오크에 의거하여, 조타력을 보조하기 위한 모터(11)의 구동전류의 상하한값을 모터 전류 목표값을 자동제어의 목표값으로서 정하고, 모터(11)의 구동 전류를 자동제어의 피이드백 값으로서 모터 구동회로(10)를 제어하는 것을 특징으로 하는 전동파워 스티어링 장치가, 제1모터 전류 목표값을 정하는 제1모터 전류목표값 결정부(2,4,5,6,7)와, 모터 구동회로의 구동전류 및 제1모터 전류 목표값에 의거하여 모터 구동회로를 제어하는 신호를 출력하는 회로(9)를 구비하고(imelude)하이드웨어만으로 이루어지는 제1제어부와, 제1모터 전류 목표값과 다른 제2모터 전류목표값을 정하는 제2모터 전류목표값 결정부(2a,21)와, 제1모터 전류목표값, 제2모터 전류목표값, 구동전류 및 차량의 상태를 표시하는 신호에 의거하여, 제1모터 전류목표값을 변경하기 위한 신호를 제1제어부로 출력하는 판정부(19)를 구비하는 (imclude) 제2제어부.Based on the steering torque, the upper and lower limits of the drive current of the motor 11 for assisting the steering force are set as the motor current target value as the target value of the automatic control, and the drive current of the motor 11 is the feedback value of the automatic control. As an electric power steering apparatus characterized by controlling the motor drive circuit 10, the first motor current target value determination unit (2, 4, 5, 6, 7) for determining the first motor current target value, and the motor A first controller comprising only hardware and having a circuit 9 for outputting a signal for controlling the motor drive circuit based on the drive current and the first motor current target value of the drive circuit; and a first motor current target value. And second motor current target value determination units 2a and 21 for determining a second motor current target value different from the first and second motor current target values, the second motor current target value, the second motor current target value, the drive current and the state of the vehicle. To change the first motor current target value (Imclude), the second controller having a determination section (19) for outputting a first control number. 제1항에 있어서, 제1제어부는, 제1모터 전류목표값의 게인을 변경하는 게인 가변회로(4)를 구비하며(imclude), 판정부(19)는, 게인가변회로(4)의 게인을 지시하는 게인지시신호를 생성하는 것을 특징으로 하는 스티어링 장치.2. The gain control circuit according to claim 1, wherein the first control section includes a gain variable circuit 4 for changing a gain of the first motor current target value, and the determination section 19 includes a gain of the gain applying circuit 4; Steering device, characterized in that for generating a gain signal indicating the. 제2항에 있어서, 제2제어부는, 제2모터 전류목표값의 게인을 변경하는 게인 가변부(14)를 구비하고 (imclude), 판정부(19)는, 게인 가변부(14)의 게인을 지시하는 게인 지시신호를 생성하는 것을 특징으로 하는 전동파워 스티어링 장치.The gain control part 14 of Claim 2 is equipped with the gain variable part 14 which changes the gain of a 2nd motor current target value, The determination part 19 is a gain of the gain variable part 14. The electric power steering apparatus, characterized in that for generating a gain instruction signal indicating. 제1항에 있어서, 제1제어부는 게인가변회로(4)의 출력을 제한하는 제한값 가션호로(6a)를 구비하며 (imclude), 판정부 (19a)는, 제한값 가변회로(6a)의 제한값을 지시한 상하한값 제한신호를 출력하는 것을 특징으로 하는 전동파워 스티어링 장치.2. The control unit as set forth in claim 1, wherein the first control section includes a limiting value gusset passage 6a for limiting the output of the gain applying circuit 4, and the determination section 19a sets the limiting value of the limiting variable circuit 6a. An electric power steering apparatus for outputting an instructed upper and lower limit signal. 제2항에 있어서, 제1제어부는, 게인 가변회로(4)의 출력을 제한하는 제한값 가변회로(6a)를 구비하며 (imclude), 판정부(19a)는 제한값 가변회로(6a)의 제한값을 지시하는 상하한값 제한신호를 출력하는 것을 특징으로 하는 전동파워 스티어링 장치.3. The control unit according to claim 2, wherein the first control unit includes a limit value variable circuit 6a for limiting the output of the gain variable circuit 4, and the determination unit 19a sets the limit value of the limit value variable circuit 6a. An electric power steering apparatus, characterized by outputting an upper and lower limit signal instructed. 제3항에 있어서, 제1제어부는, 게인 가변회로(4)의 출력을 제한하는 제한값 가변회로(6a)를 구비하며 (imclude), 판정부(19a)는 제한값 가변회로(6a)의 제한값을 지시하는 상하한값 제한신호를 출력하는 것을 특징으로 하는 전동파워 스티어링 장치.4. The control unit according to claim 3, wherein the first control unit includes a limit variable circuit 6a for limiting the output of the gain variable circuit 4, and the determination unit 19a sets the limit value of the limit variable circuit 6a. An electric power steering apparatus, characterized by outputting an upper and lower limit signal instructed. 제1항에 있어서, 판정부(19)는 제1모터 전류목표값과 제2모터 전류목표값과의 차가 소정값 보다 큰 때는 이상이 있다고 판정하며, 판정부가 이상이 있다고 판정했을 때는, 제1 및 제2모터 전류목표값을 제한하는 것을 특징으로 하는 전동파워 스티어링 장치.2. The determination unit 19 according to claim 1, wherein the determination unit 19 determines that there is an abnormality when the difference between the first motor current target value and the second motor current target value is larger than a predetermined value, and when the determination unit determines that there is an abnormality, And limiting the second motor current target value. 제2항에 있어서, 판정부(19)는 제1모터 전류목표값과 제2모터 전류목표값과의 차가 소정값 보다 큰 때는 이상이 있다고 판정하며, 판정부가 이상이 있다고 판정했을 때는, 제1 및 제2모터 전류목표값을 제한하는 것을 특징으로 하는 전동파워 스티어링 장치.3. The determination unit 19 according to claim 2, wherein the determination unit 19 determines that there is an abnormality when the difference between the first motor current target value and the second motor current target value is larger than the predetermined value, and when the determination unit determines that there is an abnormality, And limiting the second motor current target value. 제3항에 있어서, 판정부(19)는 제1모터 전류목표값과 제2모터 전류목표값과의 차가 소정값 보다 큰 때는 이상이 있다고 판정하며, 판정부가 이상이 있다고 판정했을 때는, 제1 및 제2모터 전류목표값을 제한하는 것을 특징으로 하는 전동파워 스티어링 장치.4. The determination unit 19 according to claim 3, wherein the determination unit 19 determines that there is an abnormality when the difference between the first motor current target value and the second motor current target value is larger than a predetermined value, and when the determination unit determines that there is an abnormality, And limiting the second motor current target value. 제4항에 있어서, 판정부(19)는 제1모터 전류목표값과 제2모터 전류목표값과의 차가 소정값 보다 큰 때는 이상이 있다고 판정하며, 판정부가 이상이 있다고 판정했을 때는, 제1 및 제2모터 전류목표값을 제한하는 것을 특징으로 하는 전동파워 스티어링 장치.The determination unit 19 according to claim 4, wherein the determination unit 19 determines that there is an abnormality when the difference between the first motor current target value and the second motor current target value is larger than a predetermined value, and when the determination unit determines that there is an abnormality, And limiting the second motor current target value. 제5항에 있어서, 판정부(19)는 제1모터 전류목표값과 제2모터 전류목표값의 차가 소정값 보다 큰 때는 이상이 있다고 판정하며, 판정부가 이상이 있다고 판정 했을 때는, 제1 및 제2모터 전류목표값을 제한하는 것을 특징으로 하는 전동파워 스티어링 장치.6. The determination unit 19 according to claim 5, wherein the determination unit 19 determines that there is an abnormality when the difference between the first motor current target value and the second motor current target value is larger than a predetermined value. The electric power steering apparatus characterized by limiting the second motor current target value. 제6항에 있어서, 판정부(19)는 제1모터 전류목표값과 제2모터 전류목표값의 소정값 보다 큰 때는 이상이 있다고 판정하며, 판정부가 이상이 있다고 판정했을 때는, 제1 및 제2모터 전류목표값을 제한하는 것을 특징으로 하는 전동파워 스티어링 장치.7. The determination unit 19 according to claim 6, wherein the determination unit 19 determines that there is an abnormality when the determination unit 19 is larger than a predetermined value of the first motor current target value and the second motor current target value. An electric power steering apparatus, characterized by limiting a target value of two motor currents. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019950043105A 1994-11-21 1995-11-21 Motor driven power steering Expired - Fee Related KR0155431B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP28677994A JP3521245B2 (en) 1994-11-21 1994-11-21 Electric power steering device
JP94-286779 1994-11-21

Publications (2)

Publication Number Publication Date
KR960017410A true KR960017410A (en) 1996-06-17
KR0155431B1 KR0155431B1 (en) 1998-10-15

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KR1019950043105A Expired - Fee Related KR0155431B1 (en) 1994-11-21 1995-11-21 Motor driven power steering

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US (1) US5765661A (en)
EP (1) EP0712775B1 (en)
JP (1) JP3521245B2 (en)
KR (1) KR0155431B1 (en)
DE (1) DE69517920T2 (en)

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JP2932335B2 (en) * 1993-07-30 1999-08-09 光洋精工株式会社 Electric power steering device

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Publication number Publication date
DE69517920D1 (en) 2000-08-17
JPH08142883A (en) 1996-06-04
EP0712775B1 (en) 2000-07-12
US5765661A (en) 1998-06-16
EP0712775A3 (en) 1998-03-11
EP0712775A2 (en) 1996-05-22
JP3521245B2 (en) 2004-04-19
DE69517920T2 (en) 2001-03-15
KR0155431B1 (en) 1998-10-15

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